Interactive battling robots with universal vehicle chassis

ABSTRACT

A universal chassis which may be assembled with modular componentry allowing for a play pattern with the user in which modification of the overall construction of the vehicle is encouraged. The modularity is purposely built in to allow users to modify their Battlebot chassis. In operating the configured vehicle, two motors, i.e., left and right, are provided with pulsed controlled operation to facilitate two-speed performance. The ability to transmit/receive IR signals modulated on one or more of multiple carriers facilitates the play pattern with simultaneous operation of multiple vehicles. An impact sensor or the like provides for detecting impacts, and processor control may be used for counting impacts in order to modify the functionality accorded to the user with the universal chassis. The mechanical subassemblies (such as weaponry providing a play pattern as between remote control vehicles operable simultaneously such that overall functionality) may be removed or limited based on collisions or damages taken on by the vehicles.

CROSS-REFERENCE TO RELATED APPLICATION

[0001] This application claims benefit of U.S. Provisional ApplicationNo. 60/266,958, filed Feb. 6, 2001.

BACKGROUND OF THE INVENTION

[0002] The present invention relates to infrared (IR) remote controlvehicles having multiple body styles operable with a universal chassiswith attachable dynamic assemblies, and more particularly to roboticvehicles that can accept one or more different weapon assembliesoperable from the drive motors of the universal chassis.

[0003] It would be desirable to provide a modular chassis system forchildren facilitating the customization or modification of overallvehicle designs and allowing for the configuration of robotic vehicleswhich may include mechanical subassemblies such as weaponry providing aplay pattern as between remote control vehicles operable simultaneouslysuch that overall functionality may be removed or limited based oncollisions or damages taken on by the vehicles.

SUMMARY OF THE INVENTION

[0004] Briefly summarized, the present invention provides a universalchassis which may be assembled with modular componentry allowing for aplay pattern with the user in which modification of the overallconstruction of the vehicle is encouraged. There is a desire thereforeto provide for the ability to accept a variety of snap-on components. Inoperating the configured vehicle, two motors, i.e., left and right, areprovided with pulsed controlled operation to facilitate two-speedperformance. The ability to transmit/receive IR signals modulated on oneor more of multiple carriers facilitates the play pattern withsimultaneous operation of multiple vehicles. An impact sensor or thelike provides for detecting impacts, and processor control may be usedfor counting impacts in order to modify the functionality accorded tothe user with the universal chassis.

[0005] Advantageously, snap-on mechanical subassemblies may be poweredfrom either of the two motors of the universal chassis such thatoperation of either motor may operate the snap-on mechanical subassemblywhich may be provided as a weapon or the like as use by the roboticvehicle. The controller onboard the chassis controls all functionalityof the chassis and may also provide for the detection of the presence orabsence of any mechanical subassemblies. Additionally, interlocks orclutch mechanisms may be provided with the mechanical subassemblies forsafety and reliability of the configured vehicles.

BRIEF DESCRIPTION OF THE DRAWINGS

[0006] A better understanding of the present invention is obtained whenconsidered in connection with the following description, drawings andsoftware Appendix (A-1 through A-8), in conjunction with the followingfigures, in which:

[0007]FIG. 1 illustrates an exploded view of a basic universal chassisin accordance with the present invention;

[0008] FIGS. 2A-2J, FIGS. 3A-3J, FIGS. 4A-4J, and FIGS. 5A-5Jrespectively illustrate four (4) robotic vehicle embodimentsillustrating various subassemblies corresponding to associatedassemblies as between the embodiments of the FIGS. 2-5, with a totalassembly illustrated as (A) and subassemblies (B)-(J);

[0009]FIG. 6 is a schematic diagram of the transmitter electronicsprovided in a hand-held controller; and

[0010] FIGS. 7A-7C are schematic diagrams of the electronic circuitry inthe universal chassis in which

[0011]FIG. 7A shows the IR receiver circuitry and

[0012]FIGS. 7B and 7C shows the H bridge motor control circuitry for thechassis motors in which FIG. 7B controls the left-hand motor and FIG. 7Ccontrols the right-hand motor.

DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0013] With reference to FIG. 1, the universal chassis for the preferredembodiments is provided as an IR controlled vehicle chassis whichfacilitates multiple functionality including the provision of a dualmotor, dual speed, remote control vehicles that accommodate multiplemodular wheel, weapon and body assemblies which may be received on theuniversal chassis of FIG. 1. As described, the chassis is furtherequipped with on-board electronics for receiving encoded IR signals forcontrolling the speed of the left-hand and right-hand motorsrespectively, and microprocessor control is provided for counting thenumber of physical impacts as identified with an impact switch or tiltsensor.

[0014] IR Battlebots are described as a variety of dual motor, dualspeed, remote controlled vehicles having a universal chassis with themeans for accepting modular wheel, weapon and body assemblies and wherethe chassis is also equipped with the on board electronics for receivingan IR signal, for controlling the speed of the motors, and for countingthe number of physical impacts received. The controller has the means oftransmitting via IR any one of 17 codes required for the operation ofthe vehicles. These functions are forward and reverse for both motorsand “turbo” forward and reverse for both motors. There is also a codefor when the vehicle is idle. The IR itself is broadcast at one specificcarrier frequency.

[0015] Both the chassis and the controller may be outfitted with aswitch for changing the specific IR carrier broadcast frequency. Thenumber possible switch positions is determined by the number ofBattlebots (chassis) required to battle simultaneously.

[0016] Alternatively, each Battlebot (chassis) may be tuned to a singlespecific IR carrier frequency. In this event, two of the same styleBattlebots (chassis) will not be able to operate simultaneously.

[0017] To clarify further, any chassis may become any Battlebot becauseof the modular nature of its construction. The modularity is purposelybuilt in to allow users to modify their Battlebot chassis.

[0018] A hand-held controller (not shown) is facilitated with theability to transmit via IR signals nine codes which facilitate 17operations of the motor as illustrated Appendix A-1 through A-8. Thedecoding of the 17 encoded operations for the motor drive combinationsof the vehicles facilitates the functions of forward, reverse, and turbodrive commands for either or both motors including turbo forward andreverse for both motors. A code is also provided for indicating when thevehicle is in an idle state when the user has not manipulated thecontrols of the hand-held controller such that the vehicle motor may beprovided in an OFF state. Additionally, the IR carrier frequency isbroadcast by individual controllers at separate carrier frequenciesallowing for the control and operation of multiple vehiclessimultaneously by different users.

[0019] To this end, the controller and the chassis may be outfitted witha switch, e.g., rotatable, momentary or dip switches, for changing thespecific IR broadcast frequencies. The number of possible switchpositions or frequency configurations may be determined by the number ofvehicles required to battle or otherwise operate simultaneously.Alternatively, each chassis may be tuned to a single specific IR carrierfrequency, in which two of the same style chassis may not be able tooperate simultaneously.

[0020] The configured vehicles are intended for operation at relativelyclose range with directional infrared IR controllers such that multipleplayers may engage in a battle or collision activity between multiplevehicles. The operation may be provided either on a tabletop or on aflat floor surface for providing a platform for engaging the playpattern as between the players and their controlled vehicles. It islikely that the players will be operating the vehicles within closerange, e.g., 3 to 10 feet, preferably at a range of about six feet. Asshown in FIG. 1, the universal chassis includes electronic circuitry ona circuit board including an IR receiver, impact switch, an LEDindicator and reset button operable with batteries housed within thechassis. Each of two motors (left and right) have a combination gearwhich operates the driver train and weapon subassemblies. As discussed,the assemblies of FIGS. 2A, 3A, 4A, and 5A facilitate operation fromeither of the two motors that will activate the weapon subassembliessuch that slider gears in FIGS. 2J, 3J, 4J, and 5J may individuallyoperate the mechanical subassemblies attached to the universal chassis.

[0021] As discussed, the universal chassis accepts modular componentsand includes four bosses to accept any of the four bodies, or bodystyles of FIGS. 2G, 3G, 4G, and 5G, identified by name by Minion,Blendo, Killerhurtz, and Vlad, body styles, respectively. The reversiblemotors are provided with two speeds either for pulsed operation from theinformation processor facilitated with a microprocessor ormicrocontroller, which controls the speed by providing a pulsed oralternatively a full power (“turbo”) operation. In addition to providingfor slower pulsed operation, the pulsed operation of the motor alsoserves to extend the battery life of the vehicle, and the slow pulsedoperation is also a provided mode of operation for steering or otherwisemaneuvering the vehicles.

[0022] The IR controller is operated on one of multiple carrierfrequencies, at least three and preferably four to eight frequencies forallowing simultaneous operation, e.g., eight vehicles over eight carrierfrequencies, which are controlled with a frequency configuration switchor input provided by the user. The infrared (IR) transmission link issomewhat directional with the remote hand-held controllers providing anangle of illumination of about 40 degrees allowing for multiple playersin indoor closer range operation. The transmit and receive circuitriesare described further below in connection with FIGS. 6 and 7A and 7Bwhich are provided with a conventional Winbond W583 encoding circuitwhich transmits signals over a carrier frequency generated with a 555timer.

[0023] The mechanical subassemblies are illustrated in exploded viewsfor each of the four embodiments, as shown in FIGS. 2J, 3J, 4J, and 5J,respectively, providing a saw operation, a rotary dome with serratedteeth, a hatchet, and forklift type assemblies, however, various otheractive assemblies may be operable from the universal chassis.

[0024] Turning now to FIG. 6, the Winbond W583 encoder circuit which isused both in the transmitter circuit of FIG. 6 and receiver circuit ofFIG. 7A, provides for modulation as indicated in the hardware IR ofAppendix A-1, which is facilitated with the software control IRtransmitter program of Appendix A-2 through A-5 and the IR receiverprogram of A-6 through A-8. As shown in FIG. 6, the IR output of theW583 integrated circuit is coupled via a transmitter to the 555 timer,which outputs a modulated carrier frequency from a IR LED under thecontrol of a switching transistor. Codes indicated in accordance withAppendix A-1 are thus transmitted from the transmitter circuitry of FIG.6. The typical operation for the 555 timer provides a carrier output ofapproximately 38 kilohertz which may be varied for operation on multipledifferent carriers.

[0025] With reference to FIG. 7A, the IR receiver includes a photo diodewith a tuner adjustment stage (optional) followed by a two-stageoperational amplifier for amplifying the detected IR signal which ispresented to a phase-lock loop (PLL) tone decoder herein LM567 decoderwhich generates an output to the Winbond W583 integrated circuit forcontrolling the OR GATE operation of the H bridge motor circuitry ofFIGS. 7B and 7C, which are provided as conventional motor drivecircuits. It will be appreciated that the 555 timer of the FIG. 7Areceiver provides gated operation such that the turbo decode outputresets the 555 timer so as to provide full power operation to the motorsvia the control circuitry of FIGS. 7B and 7C.

[0026] While the invention has been described in conjunction withspecific embodiments thereof, it is evident that many alternatives,modifications, and variations will be apparent to those skilled in theart in light of the foregoing description. Accordingly, it is intendedto embrace all such alternatives, modifications, and variations as fallwithin the spirit and broad scope of the appended claims.

[0027] VI.12.1 H/W IR Protocol

[0028] The output protocol of hardware defined IR begins with a Startbit followed by 9 Data bits(1 data byte, MSB first, and 1 parity bit),and Stop bit. The Start bit is typically composed of 1 mS High(TH) and6.5 mS Low(TL). Data bit ‘1’ is composed of 1 mS High and 4 mS Low. Databit ‘0’ and Stop bit are composed of 1 mS High and 2 mS Low. It's calledpulse position modulation. The IROUT pin will keep high in TH durationand output 38 KHz carrier with 75% duty cycle in TL duration. Receivermodule will recover the original waveform by filtering the 38 KHzcarrier out.

Parameter Description Min. Typ. Max. Unit TD0 Data “0” period 3000 μSTHD0 Data “0” high time 800 1000 1200 μS TLD0 Data “0” low time 16002000 2400 μS TD1 Data “1” period 5000 μS THD1 Data “1” high time 8001000 1200 μS TLD1 Data “1” low time 3200 4000 4800 μS TSTR Start bitperiod 7500 μS THSTR Start bit high time 800 1000 1200 μS TLSTR Startbit low time 5200 6500 μS

[0029] VI.13 CPU INTERFACE

[0030] The W583xxx can communicate with an external microprocessorthrough a simple serial CPU interface. This ; Battle Bots ; ;BBot_T2  IR transmitter program ; ; ; ; W583S40   DEFPAGE 1 NORMAL  OSC_3MHZ   VOUT_DAC   LED0   FREQ2 32:   LD EN0,10111011b LDEN1,00110011b   LD R0,0 LD MODE0,10111111B ;STP C control IR LDMODE1,0FEH ;IR carrier disabled END 0: ;TG1 is low ;ignore TG2 [10] JP40@TG6_LOW JP 41@TG4_LOW JP 42@TG5_LOW ; LD STOP,11111011b ; [500] ; LDSTOP,11111111b ; [500] ; LD STOP,11111011b ; [500] ; LD STOP,11111111b ;[500] ; LD STOP,11111011b ; [500] ; LD STOP,11111111b ; [500] ; LDSTOP,11111011b ; [500] ; LD STOP,11111111b ; [500] LD R0,33 ;left turnJP 110 1: ;ignore TG1 ;TG2 is low [10] JP 45 9: ;TG6 is low ;ignore TG4[10] JP 40@TG1_LOW JP 49@TG2_LOW 3: ;ignore TG6 TG4 is low [10] JP41@TG1_LOW JP 50@TG2_LOW JP 47 4: ;TG1 returns high [10] JP 45@TG2_LOWJP 46@TG6_LOW JP 47@TG4_LOW LD R0,49 ;stop JP 110 5: ;TG2 returns high[10] JP 0@TG1_LOW JP 46@TG6_LOW JP 47@TG4_LOW LD R0,49 ;stop JP 110 13:;TG6 returns high [10] JP 0@TG1_LOW JP 45@TG2_LOW JP 47@TG4_LOW LD R0,49;stop JP 110 7: ;TG4 returns high [10] JP 0@TG1_LOW JP 45@TG2_LOW JP46@TG6_LOW LD R0,49 ;stop JP 110 8: ;TG5 is low [10] JP 0@TG1_LOW JP45@TG2_LOW JP 46@TGG_LOW JP 47@TG4_LOW LD R0,49 ;stop JP 110 12: ;TG5returns high [10] JP 0@TG1_LOW JP 1@TG2_LOW JP 9@TG6_LOW JP 3@TG4_LOW LDR0,49 ;stop JP 110 40: ;TG1 is low ;TG6 is low JP 43@TG5_LOW LD R0,40;forward JP 110 41: ;TG1 is low ;TG4 is low JP 44@TG5_LOW LD R0,37 ;ccwspin JP 110 42: ;TG1 is low ;TG5 is low LD RO,41 ;turbo left turn JP 11043: ;TG1 is low ;TG6 is low ;TG5 is low LD R0,48 ;turbo forward JP 11044: LD R0,45 ;turbo ccw spin JP 110 45: ;TG2 is low JP 49@TG6_LOW JP50@TG4_LOW JP 51@TG5_LOW LD R0,34 ;reverse left turn JP 110 46: ;TG1 ishigh ;TG2 is high ;TG6 is low JP 54@TG5_LOW LD R0,35 ;right turn JP 11047: ;TG1 is high ;TG2 is high ;TG6 is high ;TG4 is low JP 55@TG5_LOW LDR0,36 ;reverse right turn JP 110 48: ;TG1 is high ;TG2 is high ;TG6 ishigh ;TG4 is high ;TG5 is low LD R0,49 ;stop JP 110 49: ;TG2 is low ;TG6is low JP 52@TG5_LOW LD R0,38 ;cw spin JP 110 50: ;TG2 is low ;TG4 islow JP 53@TG5_LOW LD R0,39 ;reverse JP 110 51: ;TG2 is low LD R0,42;turbo reverse left turn JP 110 52: ;TG2 is low ;TG6 is low ;TG5 is lowLD R0,46 ;turbo cw spin JP 110 53: ;TG2 is low ;TG4 is low ;TG5 is lowLD R0,47 ;turbo reverse JP 110 54: ;TG1 is high ;TG2 is high ;TG6 is low;TGS is low LD R0,43 ;turbo right turn JP 110 55: ;TG1 is high ;TG2 ishigh ;TG6 is high ;TG4 is low ;TG5 is low LD R0,44 ;turbo reverse rightturn JP 110 110: [300] TX R0 [100] TX R0   ;[1000] [400] JP 110 2: 60:100: 10: 11: 6: 14: 15: ... 255: jp 32 ; Battle Bots ; ; BBOT_R2  IRreceiver program ; ; ; ; W583S40 DEFPAGE 1 NORMAL OSC_3MHZ VOUT_DAC LED0FREQ2  ;8KHZ POI:   LD EN0,0   LD EN1,0 ;   LD MODE0,0bFH ; LDMODE0,00111111b ;led1 DC,stpc output LD MODE0,00101111b ;led1 DC,stpcoutput,short debounce ;   LD MODE1,0FFH LD MODE1, 11111111b ;   LDSTOP,0FFH   LD STOP,07FH LED1  ;;led1 on   [400] ;   LD EN0,00H LDEN1,00001000b ;TG8 negative edge triggered for jiggle switch ; LDEN1,00000000b ;TG8 negative edge triggered for jiggle switch DISABLED LDR0,50   JP 100 11: JP R0 100:   [880] LD STOP,011111111b JP 101 END 101:  [880] LD STOP,01111111b JP 102 END 102:   [880] LD STOP,01111111b JP103 END 103:   [880] LD STOP,01111111b JP 104 END 104:   [880] LDSTOP,01111111b JP 105 END 105:   [880] LD STOP,01111111b JP 106 END 106:  [880] LD STOP,01111111b JP 107 END 107:   [880] LD STOP,01111111b JP108 END 108:   [880] LD STOP,01111111b JP 109 END 109:   [880] LDSTOP,01111111b   JP 100 END 33: LD STOP,01111110b JP 100 34: LDSTOP,01111101b JP 100 35: LD STOP,01011111b JP 100 36: LD STOP,01110111bJP 100 37: LD STOP,01110110b JP 100 38: LD STOP,01011101b JP 100 39: LDSTOP,01110101b JP 100 40: LD STOP,01011110b JP 100 41: LD STOP,01101110bJP 100 42: LD STOP,01101101b JP 100 43: LD STOP,01001111b JP 100 44: LDSTOP,01100111b JP 100 45: LD STOP,01100110b JP 100 46: LD STOP,01100101bJP 100 47: LD STOP,01100101b JP 100 48: LD STOP,01001110b JP 100 49: LDSTOP,01111111b JP 100 50: LD EN1,00000000b ;disable all triggers LDSTOP,11111111b ;disable IR input - npn base hi...npn on! LD R0,51 LED1[1000] LD STOP,01111111b LD EN1,00001000b ;TG8 negative edge triggeredfor jiggle switch JP 100 51: LD EN1,00000000b ;disable all triggers LDSTOP,11111111b ;disable IR input - npn base hi...npn on! LD R0,52 LDMODE0,10111111b ;led1 flash LED1 [1000] LD STOP,01111111b LDEN1,00001000b ;TG8 negative edge triggered for jiggle switch JP 100 52:LD EN1,00000000b ;disable all triggers LD STOP,11111111b ;disable IRinput - npn base hi...npn on! LED0 ;led1 off 53: JP 53

What is claimed is:
 1. A universal chassis, comprising: an informationprocessor for controlling the functionality of the chassis; means foraccepting a variety of snap-on components; means for receivingcommunication signals for controlling said information processor; atleast one motor operable by said information processor; means fordetecting impacts, said detecting means allowing for the counting of theimpacts by the information processor; means for powering said snap-oncomponents from said one or more motors; and means for detecting thepresence or absence of a mechanical subassembly.
 2. The universalchassis as recited in claim 1 comprising two processor controlled pulsedmotors for two speed performance; means for receiving an IR signal;means for detecting impacts; means for counting impacts (processor);means for powering a snap-on mechanical subassembly (weapon) from eithermotor; means for controlling all functions (processor); means fordetecting the lack of a mechanical subassembly (weapon); means forclutching the output drive gears for powering the mechanicalsubassembly; means for displaying (LED) the battle damage from impacts;and switch means for changing the IR carrier frequency that isreceivable.
 3. The universal chassis as recited in claim 2 furthercomprising means for connecting removable accessory body parts.
 4. Theuniversal chassis as recited in claim 3 wherein said weapons comprise:means for connecting to the chassis; means to transfer power from eithermotor in the chassis to the weapon; spring loaded cam means foractuating hammer or fork lift components of the weapon; means forrotating the entire vehicle body or any other attachment; and means forspinning an extended sawblade or other weapon.
 5. The universal chassisas recited in claim 1 operable with a controller comprising: means totransmit a single IR carrier frequency; means to transmit a multiplicityof codes over the IR carrier frequency; switch means to change thetransmitted IR carrier frequency; means to control both motors in thechassis; and means to control the power (turbo) function.
 6. A universalchassis capable of accepting a variety of snap-on components,comprising: a chassis; an information processor for controlling thefunctionality of the chassis; an actuator linkage mounted on saidchassis; at least one motor operable by said information processor forcontrolling said actuator linkage, said information processor detectingthe presence or absence of a mechanical assembly of a snap-on componentengaged with said actuator linkages for operation by said at least onemotor; a receiver in communication with said information processor; anda radio frequency carrier selector for controlling the communicationsignals receivable at said receiver.
 7. The universal chassis as recitedin claim 6 wherein said radio frequency carrier selector comprises amultiple position switch facilitating the simultaneous communicationwith said receiver and a second receiver associated with a secondchassis.
 8. The universal chassis as recited in claim 7 comprising asecond motor operable by said information processor for maneuvering saidchassis.
 9. The universal chassis as recited in claim 8 wherein each ofsaid motors are individually operable for left and right operation forsteering or otherwise maneuvering said chassis.
 10. The universalchassis as recited in claim 9 wherein said actuator linkage mounted onsaid chassis comprises an interlock or clutch mechanical subassembly incommunication with a cam for operation of the snap-on component.
 11. Aplayset including remote controlled interactive vehicles havinguniversal chassis assemblies, the playset comprising: a plurality oftransmitters each comprising a radio frequency transmission carrierselector for controlling communication signals transmittable from saidtransmitters; a plurality of vehicle chassis assemblies, eachcomprising: an information processor associated with each said vehiclechassis for controlling the functionality of respective vehicles; atleast one motor operable by each respective information processor forcontrolling the maneuvering of the vehicles; a receiver in communicationwith each said information processor; and a radio frequency carrierselector for controlling the communication signals receivable at saidreceiver associated with each vehicle, wherein a radio frequencyreceiver carrier selector facilitates communication betweentransmitter-receiver pairs for individual operation of vehicle receiverssimultaneously with other vehicles.
 12. The playset as recited in claim11 wherein each chassis comprises an actuator linkage mounted thereonand operable by said at least one motor with said information processordetecting the presence or absence of a mechanical assembly of a snap-oncomponent engaged with said actuator linkages for operation by said atleast one motor.